Stock-Based Compensation - Unamortized Compensation Expense for Unvested Stock Options (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021
Stock options
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Unamortized compensation expense related to unvested stock options and ESPP	$ 52.6	$ 54.5
Period to recognize unamortized compensation expense	2 years 5 months 4 days
ESPP
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Unamortized compensation expense related to unvested stock options and ESPP	$ 1.2	2.3
Period to recognize unamortized compensation expense	11 months 8 days
RSUs
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Period to recognize unamortized compensation expense	1 year 10 months 24 days
Unamortized compensation expense related to unvested restricted stock units	$ 28.3	$ 24.8

Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (i)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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- Definition

Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options.

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Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (i)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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